In this paper we introduce a collision avoidance control strategy for groups of mobile robots moving in a three-dimensional environment, whose dynamics are described according to the Lagrangian model. The proposed strategy is based on the use of gyroscopic forces, that ensure obstacle avoidance without interfering with the convergence properties of the multi-robot system's desired control law. Moreover, we introduce a method to define the direction of the force in an optimal way, in order to introduce the smallest possible perturbation with respect to the desired behavior of the system. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.

Collision Avoidance Using Gyroscopic Forces for Cooperative Lagrangian Dynamical Systems / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2013), pp. 953-958. (Intervento presentato al convegno 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 tenutosi a Karlsruhe, Germany nel 6-10/05/2013) [10.1109/ICRA.2013.6630688].

Collision Avoidance Using Gyroscopic Forces for Cooperative Lagrangian Dynamical Systems

SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2013

Abstract

In this paper we introduce a collision avoidance control strategy for groups of mobile robots moving in a three-dimensional environment, whose dynamics are described according to the Lagrangian model. The proposed strategy is based on the use of gyroscopic forces, that ensure obstacle avoidance without interfering with the convergence properties of the multi-robot system's desired control law. Moreover, we introduce a method to define the direction of the force in an optimal way, in order to introduce the smallest possible perturbation with respect to the desired behavior of the system. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.
2013
2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Karlsruhe, Germany
6-10/05/2013
953
958
Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
Collision Avoidance Using Gyroscopic Forces for Cooperative Lagrangian Dynamical Systems / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2013), pp. 953-958. (Intervento presentato al convegno 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 tenutosi a Karlsruhe, Germany nel 6-10/05/2013) [10.1109/ICRA.2013.6630688].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1012934
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 11
  • ???jsp.display-item.citation.isi??? 9
social impact